# update 权限相关

maibu-common/src/main/java/com/maibu/core/business/DevicePlanTask.java

@@ -40,6 +40,6 @@ public class DevicePlanTask extends OrgBaseDO {
     private LocalDateTime canExecuteTime; // 这个时间之前都不能执行
 
     @TableField(exist = false)
-    private boolean taskAccepted = false; //任务被上位机接收
+    private volatile boolean taskAccepted = false; //任务被上位机接收
 
 }

maibu-common/src/main/java/com/maibu/core/business/device/NettyDevice.java

@@ -30,6 +30,10 @@ import java.util.ArrayList;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.Queue;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.ScheduledFuture;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicInteger;
 
 @Slf4j
 @EqualsAndHashCode(callSuper = true)
@@ -67,6 +71,9 @@ public class NettyDevice extends Connector {
     @JsonIgnore
     private WorkRecordMapper workRecordMapper = SpringUtils.getBean(WorkRecordMapper.class);
 
+    @JsonIgnore
+    private ScheduledExecutorService executor = SpringUtils.getBean("scheduledExecutorService");
+
     private static final String mqttClientId = "maibu-mqtt-client";
 
     public NettyDevice(String connectorId) {
@@ -80,7 +87,7 @@ public class NettyDevice extends Connector {
     }
 
 
-    public void status(Integer onlineStatus){
+    public void status(Integer onlineStatus) {
         this.onlineStatus = onlineStatus;
     }
 
@@ -318,9 +325,46 @@ public class NettyDevice extends Connector {
             if (executingTask)
                 return;
             if (task != null) {
+                // startTime 在启动前记录
                 task.setStartTime(LocalDateTime.now());
+
+                AtomicInteger count = new AtomicInteger(0);
+                ScheduledFuture<?>[] futureHolder = new ScheduledFuture<?>[1];
+                futureHolder[0] = executor.scheduleWithFixedDelay(() -> {
+                    int current = count.incrementAndGet();
+                    try {
                         executingTask = true;
+                        if (task.isTaskAccepted()) {
+                            // 成功，停止后续执行
+                            futureHolder[0].cancel(false);
+                            log.info("任务执行成功，停止重试，执行次数={}", current);
+                            return;
+                        }
                         sendNavigationCommand();
+                        // 达到最大次数
+                        if (current >= 10) {
+                            futureHolder[0].cancel(false);
+                            log.warn("任务执行达到最大次数，停止执行");
+                            executingTask = false;
+                            task.setTaskStaus(DeviceTaskStaus.FAILED);
+                            devicePlanTaskMapper.saveOrUpdate(task);
+                            task = null;
+                        }
+
+                    } catch (Exception e) {
+                        log.error("任务执行异常，次数={}", current, e);
+
+                        // 异常是否算一次，可以根据你的业务决定
+                        if (current >= 10) {
+                            futureHolder[0].cancel(false);
+                        }
+                        executingTask = false;
+                        task.setTaskStaus(DeviceTaskStaus.FAILED);
+                        devicePlanTaskMapper.saveOrUpdate(task);
+                        task = null;
+                    }
+
+                }, 0, 3, TimeUnit.SECONDS);
             }
         } catch (Exception e) {
             throw new RuntimeException(e);

maibu-common/src/main/java/com/maibu/core/domain/model/LoginUser.java

@@ -48,6 +48,12 @@ public class LoginUser implements UserDetails {
      */
     private String token;
 
+
+    /**
+     * 用户唯一标识   用户控制设备
+     */
+    private String realToken;
+
     /**
      * 登录时间
      */
@@ -108,7 +114,7 @@ public class LoginUser implements UserDetails {
         this.permissions = permissions;
     }
 
-    public LoginUser(Long userId, Long deptId, Long orgId, Long siteId, Long roleId,String language, SysUser user, Set<String> permissions) {
+    public LoginUser(Long userId, Long deptId, Long orgId, Long siteId, Long roleId, String language, SysUser user, Set<String> permissions) {
         this.userId = userId;
         this.deptId = deptId;
         this.orgId = orgId;

maibu-common/src/main/java/com/maibu/core/host/HostNavigationReplyDTO.java

@@ -0,0 +1,19 @@
+package com.maibu.core.host;
+
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class HostNavigationReplyDTO extends HostBase {
+
+    private String task_id; //任务唯一编号
+    private String command_id;//指令唯一编号
+    private boolean accepted;//是否接收
+    private String code;//任务动作 OK|INVALID|BUSY|ERROR
+
+    private String message;
+
+
+}

maibu-common/src/main/java/com/maibu/memory/GlobalMemory.java

@@ -109,7 +109,8 @@ public class GlobalMemory {
                     MqttTopic.MOWER_WILDCARD_LOCATION,//位置 经纬度
                     MqttTopic.MOWER_WILDCARD_TASK_ROUTE, //路径回复
                     MqttTopic.MOWER_WILDCARD_ERROR,//错误
-                    MqttTopic.MOWER_WILDCARD_REALTIME //状态消息
+                    MqttTopic.MOWER_WILDCARD_REALTIME, //状态消息
+                    MqttTopic.MOWER_WILDCARD_TASK_TARGET_REPLY //路径规划下发回复
             ));
             deviceConfig.setHandlerType(Constant.mqttHandleKey); //唯一的  用于处理上位机mqtt的
             customMqttDeviceMonitor.registerDevice(deviceConfig);

maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java

@@ -8,10 +8,7 @@ import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.business.dto.WebStatusMessageDTO;
 import com.maibu.core.business.inter.WebsocketMesDispather;
 import com.maibu.core.enums.MesType;
-import com.maibu.core.host.HeartBeatDTO;
+import com.maibu.core.host.*;
-import com.maibu.core.host.HostLocationRelTimeDTO;
-import com.maibu.core.host.HostTaskStatusDTO;
-import com.maibu.core.host.HostVehicleRelTimeDTO;
 import com.maibu.memory.DeviceSessionManager;
 import com.maibu.memory.GlobalMemory;
 import com.maibu.utils.StringUtils;
@@ -100,6 +97,9 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
                 case "control_reply":
                     handleControlReply(deviceId, topic, payload);
                     break;
+                case "route_reply":
+                    handleRouteReply(deviceId, topic, payload);
+                    break;
                 default:
                     log.debug("割草机消息: deviceId={}, topic={}, action={}", deviceId, topic, action);
                     break;
@@ -307,6 +307,23 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
     }
 
 
+    /**
+     * 处理控制指令响应
+     */
+    private void handleRouteReply(String deviceId, String topic, String payload) {
+        log.debug("【路径任务下发响应】deviceId={}, payload={}", deviceId, payload);
+
+        //todo 更新任务接收状态
+        HostNavigationReplyDTO replyDTO = SpringUtils.getBean(HostNavigationReplyDTO.class);
+        NettyDevice device = deviceSessionManager.getDevice(deviceId);
+        if (replyDTO.isAccepted()) {
+            if (device != null && device.getTask() != null && String.valueOf(device.getTask().getId()).equals(replyDTO.getTask_id())) {
+                device.getTask().setTaskAccepted(true);
+            }
+        }
+    }
+
+
     /**
      * 从 Topic 中解析 deviceId
      * Topic 格式：mower/{deviceId}/...
@@ -349,6 +366,7 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
         if (remaining.equals("task/finish/post")) return "task_finish_post";
         if (remaining.equals("action/config/reply")) return "config_reply";
         if (remaining.equals("action/control/reply")) return "control_reply";
+        if (remaining.equals("/task/target/reply")) return "route_reply";
 
         return null;
     }

maibu-common/src/main/java/com/maibu/mqtt/MqttTopic.java

@@ -94,6 +94,8 @@ public class MqttTopic {
 
     public static final String MOWER_WILDCARD_TASK_ROUTE = "mower/+/task/route/post";
 
+    public static final String MOWER_WILDCARD_TASK_TARGET_REPLY = "mower/+/task/target/reply";
+
     public static final String MOWER_HEARTBEAT = "mower/+/event/heartbeat/post";
 
 

maibu-external/src/main/java/com/maibu/uav/service/UAVService.java

@@ -29,6 +29,7 @@ import org.springframework.util.CollectionUtils;
 import org.springframework.web.multipart.MultipartFile;
 
 import javax.annotation.PostConstruct;
+import javax.annotation.PreDestroy;
 import java.io.IOException;
 import java.io.InputStream;
 import java.security.InvalidKeyException;
@@ -58,6 +59,9 @@ public class UAVService {
     @Autowired
     private RedisCache redisCache;
 
+    @Autowired
+    private ScheduledExecutorService executor;
+
 
     public static final Map<String, Long> latestActiveTime = new ConcurrentHashMap<>();
 
@@ -669,7 +673,6 @@ public class UAVService {
 
     @PostConstruct
     public void heartbeatMonitor() {
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 Long nowTime = System.currentTimeMillis();
@@ -821,4 +824,5 @@ public class UAVService {
         return false;
     }
 
+
 }

maibu-framework/src/main/java/com/maibu/web/service/TokenService.java

@@ -170,8 +170,9 @@ public class TokenService {
 
         Map<String, Object> claims = new HashMap<>();
         claims.put(Constants.LOGIN_USER_KEY, token);
-        return createToken(claims);
+        String realToken = createToken(claims);
-
+        loginUser.setRealToken(realToken);
+        return realToken;
     }
 
     public int addToken(SysUser user, SysClient sysClient) {

maibu-netty-server/src/main/java/com/maibu/controller/TransferDeviceController.java

@@ -66,11 +66,7 @@ public class TransferDeviceController extends BaseController {
         if (StringUtils.isEmpty(bindDTO.getPlatform())) {
             return AjaxResult.error("平台为空!");
         }
-        LoginUser user = getLoginUser();
+        return AjaxResult.success(transferDeviceService.switchDevice(bindDTO));
-        if (user == null) {
-            return AjaxResult.error("当前token用户不存在!");
-        }
-        return AjaxResult.success(transferDeviceService.switchDevice(bindDTO, user));
     }
 
     /**
@@ -87,8 +83,7 @@ public class TransferDeviceController extends BaseController {
             if (StringUtils.isEmpty(bindDTO.getPlatform())) {
                 return AjaxResult.error("平台为空!");
             }
-            LoginUser user = getLoginUser();
+            return AjaxResult.success(transferDeviceService.remoteControl(bindDTO));
-            return AjaxResult.success(transferDeviceService.remoteControl(bindDTO, user));
         } catch (Exception e) {
             logger.error("获取设备控制权出错", e);
             return AjaxResult.error();

maibu-netty-server/src/main/java/com/maibu/netty/handler/DeviceConnectHandler.java

@@ -192,6 +192,8 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
                             if (masterDevice == null) {
 //                                sessionManager.getControl(sessionId);
                                 handleMasterConnect(ctx, sessionId, null, ConnectorStatus.ACTIVE);
+                            } else {
+                                ctx.channel().attr(Constant.ATT_DEVICE_ID).set(sessionId);
                             }
                         }
                     }
@@ -422,11 +424,7 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
     private void handlePermissionRequest(DeviceRequestDTO requestDTO, byte[] bytes, ChannelHandlerContext ctx) {
         logger.info("转发控制请求 :{}", JsonUtils.toJsonString(requestDTO));
         String slaveId = requestDTO.getDeviceId();
-        List<NettyDevice> controlList = sessionManager.getSlaveControl(slaveId);
         String token = requestDTO.getToken();
-//        String masterId = requestDTO.getUserId() + ":" + requestDTO.getPlatform();
-        logger.info("转发控制请求 controlList :{}", JsonUtils.toJsonString(controlList));
-
         String master = sessionManager.getMaster(slaveId);
         if (!StringUtils.isEmpty(master)) {
             // 如果当前设备有控制

maibu-netty-server/src/main/java/com/maibu/netty/handler/HeartbeatHandler.java

@@ -31,6 +31,8 @@ public class HeartbeatHandler extends ChannelInboundHandlerAdapter {
 
     private static final Logger logger = LoggerFactory.getLogger(HeartbeatHandler.class);
 
+    private static final long DEVICE_REGISTER_TIMEOUT_MS = 10_000; // 10秒注册超时
+
     @Override
     public void channelActive(ChannelHandlerContext ctx) throws Exception {
         // 连接建立后启动定时任务，主动发心跳
@@ -39,6 +41,7 @@ public class HeartbeatHandler extends ChannelInboundHandlerAdapter {
     }
 
     private void scheduleHeartbeat(ChannelHandlerContext ctx) {
+        final long startTime = System.currentTimeMillis();
         ctx.executor().scheduleAtFixedRate(() -> {
             try {
                 if (ctx.channel().isActive()) {
@@ -47,6 +50,12 @@ public class HeartbeatHandler extends ChannelInboundHandlerAdapter {
                         ByteBuf heartbeat = Unpooled.wrappedBuffer(HEARTBEAT_PACKET);
                         ctx.writeAndFlush(heartbeat);
                         logger.debug("发送心跳包给客户端:{},deviceId:{}", ctx.channel().remoteAddress(), deviceId);
+                    } else {
+                        long elapsed = System.currentTimeMillis() - startTime;
+                        if (elapsed > DEVICE_REGISTER_TIMEOUT_MS) {
+                            logger.warn("设备超过{}ms未注册,断开连接:{}", DEVICE_REGISTER_TIMEOUT_MS, ctx.channel().remoteAddress());
+                            ctx.close();
+                        }
                     }
                 }
             } catch (Exception e) {
@@ -55,6 +64,24 @@ public class HeartbeatHandler extends ChannelInboundHandlerAdapter {
         }, 0, HEARTBEAT_INTERVAL, TimeUnit.SECONDS);
     }
 
+
+//    private void scheduleHeartbeat(ChannelHandlerContext ctx) {
+//        ctx.executor().scheduleAtFixedRate(() -> {
+//            try {
+//                if (ctx.channel().isActive()) {
+//                    String deviceId = ctx.channel().attr(Constant.ATT_DEVICE_ID).get();
+//                    if (!StringUtils.isEmpty(deviceId)) {
+//                        ByteBuf heartbeat = Unpooled.wrappedBuffer(HEARTBEAT_PACKET);
+//                        ctx.writeAndFlush(heartbeat);
+//                        logger.debug("发送心跳包给客户端:{},deviceId:{}", ctx.channel().remoteAddress(), deviceId);
+//                    }
+//                }
+//            } catch (Exception e) {
+//                logger.error("heartbeat error", e);
+//            }
+//        }, 0, HEARTBEAT_INTERVAL, TimeUnit.SECONDS);
+//    }
+
     @Override
     public void channelRead(ChannelHandlerContext ctx, Object msg) throws Exception {
         if (msg instanceof ByteBuf) {

maibu-netty-server/src/main/java/com/maibu/service/DevicePlanTaskMonitorService.java

@@ -19,6 +19,7 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.util.CollectionUtils;
 
+import javax.annotation.PreDestroy;
 import java.time.DayOfWeek;
 import java.time.LocalDate;
 import java.time.LocalDateTime;
@@ -44,13 +45,12 @@ public class DevicePlanTaskMonitorService {
     @Autowired
     private WorkRecordMapper workRecordMapper;
 
-
+    @Autowired
+    private ScheduledExecutorService executor;
     /**
      * 计划迟的任务生成机器执行任务
      */
     public void generatePlanTask() throws InterruptedException {
-
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 Map<String, List<DevicePlan>> planMap = SiteMemory.devicePlanMap;
@@ -204,7 +204,6 @@ public class DevicePlanTaskMonitorService {
 
     public void doLoop() throws InterruptedException {
         //prepare 进执行execute的逻辑
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 List<SiteMemory> list = GlobalMemory.getAllSiteMemory();
@@ -250,7 +249,6 @@ public class DevicePlanTaskMonitorService {
 
     public void doExecute() {
         //prepare 进执行execute的逻辑
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 List<SiteMemory> list = GlobalMemory.getAllSiteMemory();
@@ -270,5 +268,4 @@ public class DevicePlanTaskMonitorService {
             }
         }, 0, 1000, TimeUnit.MILLISECONDS);
     }
-
 }

maibu-netty-server/src/main/java/com/maibu/service/DeviceThreadService.java

@@ -1,61 +1,48 @@
 package com.maibu.service;
 
-import java.io.IOException;
+import cn.hutool.core.io.IORuntimeException;
-import java.lang.reflect.Field;
+import cn.hutool.core.io.IoUtil;
-import java.math.BigDecimal;
-import java.time.LocalDateTime;
-import java.util.ArrayList;
-import java.util.Collection;
-import java.util.Comparator;
-import java.util.List;
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-import java.util.concurrent.Executors;
-import java.util.concurrent.ScheduledExecutorService;
-import java.util.concurrent.TimeUnit;
-import java.util.stream.Collectors;
-
-import com.maibu.constant.CommandConstant;
-import com.maibu.constant.Constant;
-import com.maibu.core.business.Device;
-import com.maibu.core.enums.*;
-import com.maibu.core.host.HeartBeatDTO;
-import com.maibu.dto.DeviceStatusChangeDTO;
-import com.maibu.memory.DeviceSessionManager;
-import com.maibu.utils.CommandUtils;
-import com.maibu.utils.json.JsonUtils;
-import io.netty.buffer.ByteBuf;
-import io.netty.channel.ChannelHandlerContext;
-import io.netty.util.CharsetUtil;
-import org.apache.commons.lang3.StringUtils;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.beans.factory.annotation.Value;
-import org.springframework.core.Constants;
-import org.springframework.core.io.Resource;
-import org.springframework.core.io.ResourceLoader;
-import org.springframework.stereotype.Service;
-import org.springframework.util.CollectionUtils;
-
 import com.alibaba.fastjson2.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.maibu.common.NettyCacheKey;
+import com.maibu.constant.Constant;
+import com.maibu.core.business.Device;
 import com.maibu.core.business.DeviceRunningStatusHistory;
 import com.maibu.core.business.DeviceStatusRecordDTO;
 import com.maibu.core.business.ErrorIdentificationStandard;
 import com.maibu.core.business.alarm_center.AlarmMessage;
 import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.business.inter.WebsocketMesDispather;
+import com.maibu.core.enums.*;
+import com.maibu.core.host.HeartBeatDTO;
 import com.maibu.core.redis.RedisCache;
 import com.maibu.dto.DeviceErrorPushDTO;
 import com.maibu.mapper.ErrorIdentificationStandardMapper;
+import com.maibu.memory.DeviceSessionManager;
 import com.maibu.memory.GlobalMemory;
 import com.maibu.memory.SiteMemory;
 import com.maibu.mqtt.MqttTopic;
 import com.maibu.utils.CompareUtils;
-
-import cn.hutool.core.io.IORuntimeException;
-import cn.hutool.core.io.IoUtil;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.core.io.Resource;
+import org.springframework.core.io.ResourceLoader;
+import org.springframework.stereotype.Service;
+import org.springframework.util.CollectionUtils;
+
+import javax.annotation.PreDestroy;
+import java.io.IOException;
+import java.lang.reflect.Field;
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+import java.util.stream.Collectors;
 
 @Slf4j
 @Service
@@ -85,13 +72,14 @@ public class DeviceThreadService {
     @Value("${mqtt.client-id}")
     private String mqttClientId;
 
+    @Autowired
+    private ScheduledExecutorService executor;
+
     public void deviceErrorMonitor() throws InterruptedException, IOException {
         initStandard();
 
         // TODO fix 后续是否分多个线程 一个site一个线程 
         // 有还需要更新接受故障方式。
-
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 String key = NettyCacheKey.deviceRunningStatusKey;
@@ -270,8 +258,6 @@ public class DeviceThreadService {
      * 监控心跳
      */
     public void heartBeatMonitor() {
-
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 Long nowTime = System.currentTimeMillis();

maibu-netty-server/src/main/java/com/maibu/service/TransferDeviceService.java

@@ -220,7 +220,7 @@ public class TransferDeviceService {
 //        return false;
 //    }
 
-    public synchronized boolean switchDevice(DeviceBindDTO bindDTO, LoginUser user) {
+    public synchronized boolean switchDevice(DeviceBindDTO bindDTO) {
         try {
             String slaveId = bindDTO.getDeviceId();
 //            String platform = bindDTO.getPlatform();
@@ -270,9 +270,9 @@ public class TransferDeviceService {
     }
 
 
-    public DeviceControlDTO remoteControl(DeviceBindDTO bindDTO, LoginUser user) {
+    public DeviceControlDTO remoteControl(DeviceBindDTO bindDTO) {
         try {
-            String token = user.getToken();
+            String token = bindDTO.getToken();
             String masterToken = sessionManager.getMaster(bindDTO.getDeviceId());
             DeviceControlDTO dto = new DeviceControlDTO();
             if (!StringUtils.isEmpty(token) && token.equals(masterToken)) {

maibu-service/maibu-system-service/src/main/java/com/maibu/service/impl/IotDeviceCommonService.java

@@ -4,21 +4,20 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.maibu.constant.Constant;
 import com.maibu.core.business.DeviceModelPropertyMapping;
-import com.maibu.core.business.DevicePlanTask;
 import com.maibu.core.business.IoTCommonDevice;
 import com.maibu.core.business.Product;
-import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.business.dto.DeviceConfigDTO;
 import com.maibu.core.enums.ConnectType;
 import com.maibu.mapper.IotDeviceCommonMapper;
 import com.maibu.mapper.SysDeviceModelPropertyMappingMapper;
 import com.maibu.memory.GlobalMemory;
 import com.maibu.memory.SiteMemory;
-import com.maibu.mqtt.*;
+import com.maibu.mqtt.CustomMqttDeviceConfig;
+import com.maibu.mqtt.CustomMqttDeviceMonitor;
+import com.maibu.mqtt.GenericPropertyMessageHandler;
+import com.maibu.mqtt.PropertyMappingConfig;
 import com.maibu.utils.SecurityUtils;
 import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttClient;
-import org.eclipse.paho.client.mqttv3.MqttException;
 import org.springframework.beans.BeanUtils;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
@@ -26,14 +25,13 @@ import org.springframework.transaction.annotation.Transactional;
 import org.springframework.util.CollectionUtils;
 import org.springframework.util.StringUtils;
 
+import javax.annotation.PreDestroy;
 import java.time.LocalDateTime;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
-import java.util.HashMap;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
-import java.util.concurrent.Executors;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
 
@@ -53,6 +51,9 @@ public class IotDeviceCommonService {
     @Autowired
     private SysDeviceModelPropertyMappingMapper sysDeviceModelPropertyMappingMapper;
 
+    @Autowired
+    private ScheduledExecutorService executor;
+
     public void save(IoTCommonDevice ioTCommonDevice) throws Exception {
         iotDeviceCommonMapper.saveOrUpdate(ioTCommonDevice);
         SiteMemory siteMemory = GlobalMemory.getSiteMemory(ioTCommonDevice.getOrgId(), ioTCommonDevice.getSiteId());
@@ -269,8 +270,6 @@ public class IotDeviceCommonService {
     public static Map<Long, List<DeviceModelPropertyMapping>> mappingCache = new ConcurrentHashMap<>();
 
     public void commonDeviceMonitor() {
-
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleWithFixedDelay(() -> {
             try {
                 CustomMqttDeviceMonitor monitor = GlobalMemory.customMqttDeviceMonitor;

maibu-web-middleware/src/main/java/com/maibu/controller/WebMiddlewareController.java

@@ -62,10 +62,11 @@ public class WebMiddlewareController extends BaseController {
         List<String> nettyClients = new ArrayList<>();
         MiddleGlobalMemory.nettyClientMap.values().forEach(x -> {
             if (x != null) {
-                nettyClients.add(x.userName +":"+ x.token);
+                nettyClients.add(x.userName + ":" + x.token);
             }
         });
         res.put("nettyClientMap", nettyClients);
+        res.put("controllerMap", deviceSessionManager.getControllerMap());
         res.put("siteMemory", GlobalMemory.getAllSiteMemory());
         return AjaxResult.success(res);
     }

maibu-web-middleware/src/main/java/com/maibu/memory/SystemMonitor.java

@@ -1,11 +1,13 @@
 package com.maibu.memory;
 
 
+import com.maibu.utils.spring.SpringUtils;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.PostConstruct;
+import javax.annotation.PreDestroy;
 import java.lang.management.ManagementFactory;
 import java.lang.management.OperatingSystemMXBean;
 import java.lang.management.ThreadMXBean;
@@ -19,6 +21,8 @@ import java.util.concurrent.TimeUnit;
 public class SystemMonitor {
     private final Logger logger = LoggerFactory.getLogger(SystemMonitor.class);
 
+    private ScheduledExecutorService executor = SpringUtils.getBean("scheduledExecutorService");
+
     // 启动监控任务
     @PostConstruct
     public void startMonitoring() {
@@ -37,7 +41,6 @@ public class SystemMonitor {
 
     // 内存监控
     private void startMemoryMonitor() {
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleAtFixedRate(() -> {
             Runtime runtime = Runtime.getRuntime();
             long totalMemory = runtime.totalMemory() / (1024 * 1024);
@@ -59,7 +62,6 @@ public class SystemMonitor {
 
     // CPU 监控
     private void startCpuMonitor() {
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleAtFixedRate(() -> {
             try {
                 // 使用 OperatingSystemMXBean 获取 CPU 使用率
@@ -84,7 +86,6 @@ public class SystemMonitor {
 
     // 线程监控
     private void startThreadMonitor() {
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleAtFixedRate(() -> {
             ThreadMXBean threadBean = ManagementFactory.getThreadMXBean();
             int threadCount = threadBean.getThreadCount();
@@ -105,7 +106,6 @@ public class SystemMonitor {
 
     // 连接数监控
     private void startConnectionMonitor() {
-        ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
         executor.scheduleAtFixedRate(() -> {
             int webSocketCount = MiddleGlobalMemory.onlineSockets.size();
             int nettyClientCount = MiddleGlobalMemory.nettyClientMap.size();
@@ -114,4 +114,5 @@ public class SystemMonitor {
                     webSocketCount, nettyClientCount);
         }, 1, 5, TimeUnit.MINUTES);
     }
+
 }

maibu-web-middleware/src/main/java/com/maibu/netty/handler/ClientHandler.java

@@ -4,6 +4,7 @@ import java.nio.charset.StandardCharsets;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
+import java.util.Objects;
 import java.util.concurrent.TimeUnit;
 
 import com.maibu.core.business.dto.WebStatusMessageDTO;
@@ -63,10 +64,10 @@ public class ClientHandler extends ChannelInboundHandlerAdapter {
                     ctx.writeAndFlush(data);
                 }
                 NettyClient nettyClient = MiddleGlobalMemory.nettyClientMap.get(key);
-                if (nettyClient != null && StringUtils.isEmpty(nettyClient.currentDeviceId)) {
+                if (nettyClient != null) {
                     if (nettyClient.lastSwitchTime == -1
                             || System.currentTimeMillis() - nettyClient.lastSwitchTime > nettyClient.Interval) {
-                        if (!StringUtils.isEmpty(nettyClient.requestDeviceId) && !StringUtils.isEmpty(key)) {
+                        if (!StringUtils.isEmpty(nettyClient.requestDeviceId) && !StringUtils.isEmpty(key) && !Objects.equals(nettyClient.requestDeviceId, nettyClient.currentDeviceId)) {
                             switchDevice(nettyClient, key);
                             nettyClient.lastSwitchTime = System.currentTimeMillis();
                         }
@@ -138,7 +139,7 @@ public class ClientHandler extends ChannelInboundHandlerAdapter {
                             }
                         } else {
                             /* 判断 respond 字段 */
-                            if (obj.get("request") != null) {
+                            if (obj.get("request") != null && !"null".equals(obj.get("request").toString())) {
                                 String deviceId = obj.get("deviceId").toString();
                                 String userName = obj.get("userId").toString();
                                 String platform = obj.get("platform").toString();
@@ -151,7 +152,7 @@ public class ClientHandler extends ChannelInboundHandlerAdapter {
                                 logger.debug("json: {}", JsonUtils.toJsonString(request));
                                 WebsocketHandler.sendMessageToClient(webSocket, JsonUtils.toJsonString(request));
                             } else {
-                                if (obj.get("respond") != null) {
+                                if (obj.get("respond") != null && !"null".equals(obj.get("respond").toString())) {
                                     if ("have_logged_in".equals(obj.get("respond").toString())) {
                                         /* 如果回复 have_logged_in 则调用logout */
                                         // System.out.println("检测到重复登录，执行 logout");
@@ -460,7 +461,9 @@ public class ClientHandler extends ChannelInboundHandlerAdapter {
         String key = ctx.channel().attr(MiddleConstant.ATT_MASTER_KEY).get();
         NettyClient nettyClient = MiddleGlobalMemory.nettyClientMap.get(key);
         // stopHeartbeat(nettyClient);
+        if (nettyClient != null) {
             nettyClient.currentDeviceId = null;
+        }
         logger.debug("连接断开channelInactive,ChannelId:{} ", ctx.channel().id().asLongText());
         WebSocket webSocket = MiddleGlobalMemory.onlineSockets.get(key);
         if (webSocket != null && webSocket.isOpen()) {

maibu-web-middleware/src/main/java/com/maibu/websocket/WebsocketHandler.java

@@ -10,6 +10,7 @@ import com.maibu.netty.NettyClient;
 import com.maibu.utils.CommandUtils;
 import com.maibu.utils.ControlUtils;
 import com.maibu.utils.json.JsonUtils;
+import com.maibu.utils.spring.SpringUtils;
 import io.netty.buffer.ByteBuf;
 import io.netty.buffer.Unpooled;
 import org.apache.commons.lang3.StringUtils;
@@ -41,7 +42,7 @@ public class WebsocketHandler extends WebSocketServer {
     // 空闲超时时间（10秒）：超过10秒无消息则判定为断开
     private static final long IDLE_TIMEOUT = 10 * 1000;
     // 定时检测线程池（每隔10秒检测一次空闲连接）
-    private final ScheduledExecutorService idleCheckExecutor = Executors.newSingleThreadScheduledExecutor();
+    private ScheduledExecutorService executor = SpringUtils.getBean("scheduledExecutorService");
 
 
     public WebsocketHandler(int port) {
@@ -81,24 +82,29 @@ public class WebsocketHandler extends WebSocketServer {
                         return;
                     }
                     //todo 先关闭原先的
-                    WebSocket oldWebsocket = MiddleGlobalMemory.onlineSockets.get(key);
+//                    WebSocket oldWebsocket = MiddleGlobalMemory.onlineSockets.get(key);
-                    NettyClient oldNettyClient = MiddleGlobalMemory.nettyClientMap.get(key);
+                    NettyClient client = MiddleGlobalMemory.nettyClientMap.get(key);
-                    if (oldWebsocket != null && oldWebsocket.isOpen()) {
+
-                        oldWebsocket.close();
+//                    if (oldWebsocket != null && oldWebsocket.isOpen()) {
-                    }
+//                        oldWebsocket.close();
-                    if (oldNettyClient != null && oldNettyClient.isConnected()) {
+//                    }
-                        oldNettyClient.disconnect();
+//                    if (oldNettyClient != null && oldNettyClient.isConnected()) {
-                    }
+//                        oldNettyClient.disconnect();
+//                    }
                     MiddleGlobalMemory.onlineSockets.put(key, conn);
                     //这里可以根据需要初始化Netty客户端
-                    NettyClient client = new NettyClient();
+                    if (client == null) {
+                        client = new NettyClient();
+                    }
                     client.key = key;
                     client.requestDeviceId = deviceId;
                     client.token = token;
                     client.userName = userName;
+                    MiddleGlobalMemory.nettyClientMap.put(key, client);
+                    if (!client.isConnected()) {
                         client.initClient();
                         client.initConnect(MiddleConstant.vertxIp, 9001);
-                    MiddleGlobalMemory.nettyClientMap.put(key, client);
+                    }
                 } else if (MesType.path.equals(type)) {
                     //todo下发路径 预留
                     pathDistribute();
@@ -126,7 +132,7 @@ public class WebsocketHandler extends WebSocketServer {
 //                else if(MesType.heartbeat.equals(type)){
 //                    clientActiveTimeMap.put(conn,System.currentTimeMillis());
 //                }
-                else if(MesType.switchPermission.equals(type)){
+                else if (MesType.switchPermission.equals(type)) {
                     DeviceRequestDTO requestDTO = new DeviceRequestDTO();
                     requestDTO.setRequest(CommandRequestType.switch_control);
                     requestDTO.setToken(token);
@@ -136,12 +142,12 @@ public class WebsocketHandler extends WebSocketServer {
                     logger.debug("Netty客户端:{}发送操控请求数据: {}", userName, JsonUtils.toJsonString(requestDTO));
                     NettyClient nettyClient = MiddleGlobalMemory.nettyClientMap.get(key);
                     ByteBuf buf = Unpooled.buffer();
-                    CommandUtils.buildCommand(buf,requestDTO, CommandConstant.interaction);
+                    CommandUtils.buildCommand(buf, requestDTO, CommandConstant.interaction);
                     if (nettyClient != null && nettyClient.isConnected()) {
 //                            if (!nettyClient.isConnected()) nettyClient.connect();
                         nettyClient.sendData(buf.array());
                     }
-                } else if(MesType.switchResult.equals(type)){
+                } else if (MesType.switchResult.equals(type)) {
                     DeviceRequestDTO requestDTO = new DeviceRequestDTO();
                     requestDTO.setToken(token);
                     requestDTO.setPlatform("web");
@@ -154,7 +160,7 @@ public class WebsocketHandler extends WebSocketServer {
                     logger.debug("Netty客户端:{}发送切换操控权请求反馈: {}", userName, JsonUtils.toJsonString(requestDTO));
                     NettyClient nettyClient = MiddleGlobalMemory.nettyClientMap.get(key);
                     ByteBuf buf = Unpooled.buffer();
-                    CommandUtils.buildCommand(buf,requestDTO, CommandConstant.interaction);
+                    CommandUtils.buildCommand(buf, requestDTO, CommandConstant.interaction);
                     if (nettyClient != null && nettyClient.isConnected()) {
 //                            if (!nettyClient.isConnected()) nettyClient.connect();
                         nettyClient.sendData(buf.array());
@@ -225,7 +231,7 @@ public class WebsocketHandler extends WebSocketServer {
 
     // 核心：定时检测空闲连接（每隔10秒执行一次）
     private void startIdleCheckTask() {
-        idleCheckExecutor.scheduleAtFixedRate(() -> {
+        executor.scheduleAtFixedRate(() -> {
             long now = System.currentTimeMillis();
             // 遍历所有连接，检测是否超时
             for (Map.Entry<WebSocket, Long> entry : clientActiveTimeMap.entrySet()) {